Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries
A team of non-holonomic constant-speed under-actuated unmanned aerial vehicles (UAVs) with lower-limited turning radii travel in 3D. The space hosts an unknown and unpredictably varying scalar environmental field. A space direction is given; this direction and the coordinate along it are conditional...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/6/2/33 |
| _version_ | 1797480994703409152 |
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| author | Alexey S. Matveev Anna A. Semakova |
| author_facet | Alexey S. Matveev Anna A. Semakova |
| author_sort | Alexey S. Matveev |
| collection | DOAJ |
| description | A team of non-holonomic constant-speed under-actuated unmanned aerial vehicles (UAVs) with lower-limited turning radii travel in 3D. The space hosts an unknown and unpredictably varying scalar environmental field. A space direction is given; this direction and the coordinate along it are conditionally termed as the “vertical” and “altitude”, respectively. All UAVs should arrive at the moving and deforming isosurface where the field assumes a given value. They also should evenly distribute themselves over a pre-specified range of the “altitudes” and repeatedly encircle the entirety of the isosurface while remaining on it, each at its own altitude. Every UAV measures only the field intensity at the current location and both the Euclidean and altitudinal distances to the objects (including the top and bottom of the altitudinal range) within a finite range of visibility and has access to its own speed and the vertical direction. The UAVs carry no communication facilities, are anonymous to one another, and cannot play distinct roles in the team. A distributed control law is presented that solves this mission under minimal and partly inevitable assumptions. This law is justified by a mathematically rigorous global convergence result; computer simulation tests confirm its performance. |
| first_indexed | 2024-03-09T22:09:05Z |
| format | Article |
| id | doaj.art-1591e3c58a71463a84956e91a4b3430e |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-09T22:09:05Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-1591e3c58a71463a84956e91a4b3430e2023-11-23T19:35:46ZengMDPI AGDrones2504-446X2022-01-01623310.3390/drones6020033Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental BoundariesAlexey S. Matveev0Anna A. Semakova1Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, 198504 St. Petersburg, RussiaDepartment of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, 198504 St. Petersburg, RussiaA team of non-holonomic constant-speed under-actuated unmanned aerial vehicles (UAVs) with lower-limited turning radii travel in 3D. The space hosts an unknown and unpredictably varying scalar environmental field. A space direction is given; this direction and the coordinate along it are conditionally termed as the “vertical” and “altitude”, respectively. All UAVs should arrive at the moving and deforming isosurface where the field assumes a given value. They also should evenly distribute themselves over a pre-specified range of the “altitudes” and repeatedly encircle the entirety of the isosurface while remaining on it, each at its own altitude. Every UAV measures only the field intensity at the current location and both the Euclidean and altitudinal distances to the objects (including the top and bottom of the altitudinal range) within a finite range of visibility and has access to its own speed and the vertical direction. The UAVs carry no communication facilities, are anonymous to one another, and cannot play distinct roles in the team. A distributed control law is presented that solves this mission under minimal and partly inevitable assumptions. This law is justified by a mathematically rigorous global convergence result; computer simulation tests confirm its performance.https://www.mdpi.com/2504-446X/6/2/33unmanned aerial vehiclesmultiagentdistributed control lawenvironmental boundarymoving and deforming boundarylocalization and tracking |
| spellingShingle | Alexey S. Matveev Anna A. Semakova Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries Drones unmanned aerial vehicles multiagent distributed control law environmental boundary moving and deforming boundary localization and tracking |
| title | Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries |
| title_full | Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries |
| title_fullStr | Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries |
| title_full_unstemmed | Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries |
| title_short | Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries |
| title_sort | distributed 3d navigation of swarms of non holonomic uavs for coverage of unsteady environmental boundaries |
| topic | unmanned aerial vehicles multiagent distributed control law environmental boundary moving and deforming boundary localization and tracking |
| url | https://www.mdpi.com/2504-446X/6/2/33 |
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